Editor's note: This story has been updated to provide more information about the children's whereabouts.

WISCONSIN RAPIDS - Two children whose disappearance set off a citywide search were found safe late Sunday, playing in a friend's basement, police said.

The children were supposed to have returned to their home in the 1200 block of Irving Street in Wisconsin Rapids by 5 p.m. Sunday, according to police. Searchers found the children in the basement of a home in the 1200 block of Franklin Street and called off the search about 9:20 p.m. Sunday, according to reports. A neighbor had seen the children's bicycle outside the residence.

The Wisconsin Rapids Police Department, Fire Department and Police Auxiliary joined the search, Police Lt. Joel Flewellen said. The Spirit of Marshfield helicopter was brought in to search wooded areas with an thermal imaging system.